Mapping the trajectory of a part of the anatomy of the human or animal body

ABSTRACT

A method for mapping the trajectory of a part of the anatomy of a human or animal body. The method comprises receiving first sensor signals from a sensor attached to part of the anatomy of the human or animal body. The first sensor signals comprise three dimensional position information indicating the location of the sensor; determining from the first sensor signals at least two angles of rotation of the part of the anatomy to which the sensor is attached with respect to a centre of rotation of another part of the body, wherein the angles of rotation are selected from pitch, yaw and roll. Transforming the signals to provide two dimensional coordinate data defined in a two dimensional coordinate space wherein a first dimension in the two dimensional coordinate space represents a first angle of rotation of the part of the anatomy and a second dimension in the two dimensional coordinate space represents a second angle of rotation of the part of the anatomy; and stores the two dimensional coordinate data.

FIELD OF THE INVENTION

The present disclosure relates to a method and apparatus for mapping thetrajectory of a part of the anatomy of the human or animal body.

BACKGROUND

Understanding the trajectory or range of motion of a part of the anatomycan be very useful, both for sportspersons in training and recoveringfrom injury, but also the elderly or those recovering from surgeryincluding animals such as horses and dogs. Typically all of the low costavailable measures of trajectory or range of motion are subjective anddifficult to repeat or verify. However, veterinary surgeons, orthopaedicsurgeons, sports scientists, physiotherapists, care homes and generalpractitioners (GPs) would all greatly benefit from an objectivemeasurement of some kind. Insurance companies and other professionalorganisations are also looking for ‘Evidence Based Outcomes’ wherephysical data is now required to prove the effectiveness of anytreatment or surgery.

Methods currently being used in the art are very basic, often comprisinga goniometer, a ruler or simply by done by sight. This makes the datacurrently available very crude and of poor accuracy and difficult tostore and recall. In addition, the data is limited to motion in onedimension/direction, for example the data is limited to a measurement ofthe range of motion of a limb in flexion and extension. This makes thedata difficult to understand usefully, as the range of motion of a limb,for example, may vary depending on the degree of motion in anotherdimension/direction. There is therefore a requirement for simple, costeffective analysis of complex goniometry.

With the increasing use of health insurance to cover physiotherapy andthe number of sporting injuries rising, it is clear that better methodsneed to be found to assess the status of a patient, especially with therequirement for evidenced based outcomes.

SUMMARY OF THE INVENTION

Aspects of the invention are as set out in the appended claims.

DRAWINGS

Embodiments of the disclosure will now be described, by way of exampleonly, with reference to the accompanying drawings, in which:

FIG. 1 shows a schematic view of an example apparatus for mapping thetrajectory of a part of the anatomy of the human or animal body;

FIG. 2A shows a kit comprising the example apparatus of FIG. 1;

FIG. 2B shows a sensor that forms part of the kit of FIG. 2A;

FIG. 3 shows a perspective view of a patient wearing a sensor that formspart of the apparatus of FIG. 1;

FIG. 4 shows an example plot of the range of motion of a patient's armusing the apparatus of FIG. 1;

FIG. 5 shows another display of the information obtained using theapparatus of FIG. 1.

SPECIFIC DESCRIPTION

Methods and apparatus for mapping the trajectory of a part of theanatomy of the human or animal body, for example a limb such as an armor a leg, are described herein. For example the methods and apparatusmay allow the range of motion of a part of the anatomy to be determined.

One method comprises attaching a sensor, for example a wireless sensor,to a part of the anatomy, and receiving signals from the sensorcomprising three dimensional position information indicating thelocation of the sensor. From the signals, at least two angles ofrotation of the part of the anatomy are determined, for example any twoof pitch, yaw and roll. The signals are transformed to provide twodimensional coordinate data in a two dimensional coordinate space. Inthe two dimensional coordinate space, one dimension represents a firstangle of rotation, and a second dimension represents a second angle ofrotation. The signals may be mapped to an image space for displaying thetrajectory of the part of the anatomy, for example on a two dimensionalplot. For example, the two dimensional coordinate data may be mapped toan image space for display of the trajectory of the part of the anatomy.

Advantageously this allows the results to be displayed on a unique,live, animated display which is an easy to understand graphicalrepresentation of the patient moving, which may show, for example,current and maximum displacement of at least two angles of rotation ofthe part of the anatomy, for example pitch and yaw. In this way thetrajectory and/or range of motion of a part of the anatomy may be mappedand tested.

A third angle of rotation of the part of the anatomy, for example roll,may be obtained and stored as an association with the two dimensionalcoordinate data. The third angle of rotation may be mapped to displaylocations in an image space, for example the same image space, andoverlaid on the display of the trajectory of the part of the anatomy.

Data can be compared to previous mappings, for example stored data canbe mapped to an image space, for example the same image space, andoverlaid on the display of the trajectory of the part of the anatomy, sothat a clinician/physiotherapist and the patient can immediately see theimpact of therapy. Not only does this provide encouragement to thepatient to continue with their rehabilitation, it also provides HealthInsurers with tangible proof of the positive outcome of the treatment.

The patient's maximum ranges for passive and active movement may beindicated on the display, for example by mapping these ranges to displaylocations on an image space, for example the same image space, forexample by solid lines for active and passive movement as an overlay atdisplay locations on the display of the trajectory of the part of theanatomy. As a mapping of the trajectory of the part of the anatomy isbeing performed, the patient can also register points of discomfort orrestriction (patient incidence points, PIPs) by pressing a secondconnected sensor. These patient incidence points may be recorded as anassociation with the two dimensional coordinate data for comparativepurposes. A results table may be automatically populated with data fromthe current, previous and selected mappings for comparative purposes. Inaddition, features such as the power, speed or acceleration of movementcan be recorded, mapped to an image space, for example the same imagespace, and overlaid on the display of the trajectory of the part of theanatomy.

FIG. 1 shows a sensor 2 and controller 1 forming an apparatus formapping the trajectory of a part of the anatomy of the human or animalbody. The controller 1 comprises a wireless communications antenna 7coupled to a wireless communications interface 9. The wirelesscommunications interface 9 is coupled to a processor 11. The processor11 is coupled to a display 15.

The sensor 2 comprises a wireless communications antenna 17 coupled to awireless communications interface 19. The wireless communicationsinterface 19 is coupled to a processor 21, which in turn is coupled tosensor elements 23. The sensor elements 23 are coupled to a battery 25,although in some embodiments the processor 21 may be coupled to thebattery 25. The sensor 2 may also comprise a charging socket (not shown)to charge the battery 25, and a light, for example an LED, to indicatethe mode of operation of the sensor 2. The sensor elements 23 maycomprise at least one selected from the list of: accelerometers,gyroscope, air pressure sensors and magnetic field sensors. The sensorelements 23 may also comprise a user-operable interface, for example abutton or other means for operation by a user such as a patient orclinician/physiotherapist.

FIG. 2A shows an example kit comprising the apparatus for mapping thetrajectory of a part of the anatomy of the human or animal body shown inFIG. 1. FIG. 2A shows a controller 1, two sensors 2, two straps 3 and anaccessories compartment 4 optionally comprising accessories such ascharging leads, all contained within a case 5. In this example, thecontroller 1 is a tablet, but it will be understood that the controller1 could easily by any other computing device and may simply be aprocessor operable to receive sensor signals, determine angles ofrotation from the sensor signals and transform the sensor signals toprovide two-dimensional coordinate data. The case 5 is padded, forexample with foam, to protect the contents of the case 5 when intransit. Providing the apparatus in a case 5 like this advantageouslyincreases the ease of use and portability of the apparatus.

The sensor 2 of FIG. 2A is shown in more detail in FIG. 2B. The sensor 2has a unique combination of soft touch, non-marking polymers impregnatedwith germ-killing silver ion technology in a compact and wearable formfactor. The sensor 2 is small, for example less than 50×50×50 mm, forexample 48×38×24 mm and lightweight, for example less than 100 g, forexample less than 25 g, for example 21 g. The sensor 2 is also shockresistant, for example resistant to at least 4G, for example at least10G, for example at least 32G. The housing of the sensor may containBiomaster®, an effective, silver-based anti-microbial technology.Biomaster® is a broad spectrum anti-microbial additive independentlytested and proven to reduce bacterial growth by 99.99% within 2 hours,providing durable, lifelong protection against the threat ofcross-contamination.

The sensor 2 is configured to be attached to a part of the anatomy ofthe human or animal body, for example as shown in FIG. 3. For example,the sensor 2 may comprise a strap, or means for attaching to a strap,that fastens around a limb of the human or animal body, for example anarm or a leg. Additionally or alternatively, the sensor 1 may comprisemeans to attach to clothing worn on the part of the anatomy, for examplethe sensor 1 may comprise a clip or hook and loop material.

The sensor 2 is operable to communicate with the controller 1 to map thetrajectory of a part of the anatomy of the human or animal body. In theexample shown in FIG. 1, the sensor 2 is configured to communicatewirelessly with the controller 1. The sensor 2 is configured to obtainthree dimensional position information indicating the location of thesensor 2, and is operable to transmit this information as first sensorsignals to the controller 1. For example, the sensor 2 is configured toobtain the three dimensional position information based on informationobtained from sensor elements 23, for example three dimensional positioninformation selected from the list of: orientation relative to theearth's magnetic field, orientation relative to the direction ofgravity, and ambient air pressure. The processor 21 of sensor 2 isoperable to process information from the sensor elements 23 and viawireless communications interface 19, is operable to produce firstsensor signals comprising three dimensional position informationindicating the location of the sensor 2.

The controller 1 is configured to receive these first sensor signalscomprising the three dimensional position information indicating thelocation of the sensor 2 from the sensor 2, and the controller 1 isoperable to determine at least two angles of rotation of a part of theanatomy of the human or animal body, for example at least two of pitch,yaw and roll as shown in FIG. 3. For example, the controller 1 may berunning proprietary software that allows it to perform these functions.The controller 1 is operable to transform the signals received from thesensor 2 to provide two dimensional coordinate data defined in a twodimensional coordinate space such that a first dimension in the twodimensional coordinate space represents a first angle of rotation of thepart of the anatomy and a second dimension in the two dimensionalcoordinate space represents a second angle of rotation of the part ofthe anatomy. The controller 1 is configured to store the two dimensionaldata, for example the controller 1 may be coupled to a data storage forstoring the two dimensional data. For example, the two dimensionalcoordinate data may be stored in a tabular format, for example as an XMLfile. The two dimensional coordinate space may comprise linearcoordinate system, for example a rectilinear coordinate system.

In some configurations, the controller 1 is operable to map the firstsensor signals to an image space for display of the trajectory of thepart of the anatomy, for example on display 15. The image space maycomprise instructions for interpretation of data into an image format,for example the image space may be machine readable instructions fordisplay of an image. The image space may comprise data formatted fordisplay in an image, for example a file format, for example a jpg, pngor tiff file format. In some configurations, the controller is operableto map the two dimensional coordinate data to an image space for displayof the trajectory of the part of the anatomy, for example the controlleris operable to map the stored two dimensional coordinate data to animage space. In other configurations, the two dimensional coordinatespace may be an image space, such that when the two dimensionalcoordinate data is transformed to the two dimensional coordinate spaceit is simultaneously in an image space.

In some configurations, the controller 1 is further operable to obtain asecond sensor signal indicative of a third angle of rotation of the partof the anatomy, and is operable to store an association comprising thethird angle of rotation and the two dimensional coordinate dataindicating the at least two angles of rotation at which the secondsensor signal was obtained. For example, the third angle of rotation maycomprise the degree of roll of the part of the anatomy. The controller 1may be configured to map the third angle of rotation of the part of theanatomy to a display location in an image space, for example the sameimage space, selected based on the stored association. For example, thecontroller 1 may be configured to display the third angle of rotation ofthe part of the anatomy as an overlay at the display location on adisplay of the trajectory of the part of the anatomy.

In some configurations, the controller 1 is further operable to receivea third sensor signal comprising information indicative of an incidencepoint. The third sensor signal may be obtained from the sensor 2 andoperated by the patient, for example from a user operable interface, forexample via the use of a button, and may be obtained from the samesensor as the sensor providing the first sensor signals, or from anothersensor, for example a sensor operated by a clinician/physiotherapist.The controller 1 may be configured to associate the incidence point withthe at least two angles of rotation, for example the two dimensionalcoordinate data indicating the at least two angles of rotation of thepart of the anatomy to record the location of the incidence point. Thecontroller 1 may be configured to store this association between theincidence point and the two dimensional coordinate data. The controller1 may be configured to map the incidence point to a display location inan image space, for example the same image space, selected based on thestored association. For example, the controller 1 may be configured todisplay the incidence point as an overlay at the display location on adisplay of the trajectory of the part of the anatomy.

In some configurations, the controller 1 is further operable to receivea fourth sensor signal comprising information indicative of at least oneselected from the list of: speed, acceleration and power of a part ofthe anatomy of the human or animal body. For example, the sensor signalsmay be obtained from the sensor 2 and thus obtained from the same sensorproviding the first sensor signals, or from another sensor, for exampleanother sensor attached to the patient or a sensor operated by aclinician/physiotherapist. In some configurations, the sensor providingthe fourth sensor signals may be the same as the sensor providing thethird sensor signals. The controller 1 may be configured to associatethe fourth sensor signals with the at least two angles of rotation, forexample the two dimensional coordinate data indicating the at least twoangles of rotation. The controller 1 may be configured to store thisassociation between the fourth sensor signals, for example at least oneselected from the list of: speed, acceleration and power of a part ofthe anatomy of the human or animal body and the two dimensionalcoordinate data. The controller 1 may be configured to map the speed,acceleration and/or power to a display location in an image space, forexample the same image space, selected based on the stored association.For example, the controller 1 may be configured to display the speed,acceleration and/or power as an overlay at the display location on adisplay of the trajectory of the part of the anatomy.

In some configurations, the sensor 2 is operable to transmit live data,for example the sensor signals, over a wireless connection, for examplea Bluetooth® connection, to the controller 1. For example, the sensor 2may be operable to transmit the sensor signals to any controller withinrange, which is typically 10-25 m for a Bluetooth® connection. In someconfigurations the wireless connection between the controller 1 andsensor 2 is automatic and can detect any sensor 2 within range. In someconfigurations a plurality of sensors 2, for example two sensors 2, maybe connected at the same time enabling real-time direct comparison ofdata or activities.

In some configurations, the sensor 2 is operable to transmit at afrequency of at least 10 Hz, for example at least 50 Hz, for example atleast 100 Hz with latency (delay) for the data (for example the firstsensor signals comprising the three dimensional position information)being at least 8 ms, for example at most 40 ms, i.e. about 1/40th of asecond. This enables the controller 1 to focus on displaying actualfigures in real time, for live feedback, as well as saving the resultsto a data storage for future reference and comparison.

In some configurations, the sensor 2 is configured to be uniquelyidentified and paired to the controller 1 using a licence key, forexample the sensor 2 is configured to work with a specific controller 1.By using cloud data services such as Dropbox®, patient mapping resultscan be easily shared across multiple machines in multiple locations,enabling mapping to be carried out at one location and the resultsreviewed at another location in real time.

The controller 1 may use highly-complex mathematical algorithms tointerpret the first sensor signals, and to transform them to map thetrajectory of the part of the anatomy to which sensor 2 is attached.

In some configurations, the sensor 2 is operable in a number ofdifferent modes of operation. For example, the sensor 2 may be operablein “find” mode, “calibration” mode, “mapping” mode or “sleep” mode. Themode of operation may be displayed somewhere on the sensor, for examplethe mode of operation may be indicated by a light on the sensor 2, forexample a flashing LED. The light may also indicate when the sensor 2 isbeing charged up or requires charging.

In operation, the sensor 2 and the controller 1 are both switched on andcommunicating with each other such that signals sent from the sensor 2are received by the controller 1. The sensor 2 and controller 1 may becommunicating in a “mapping” mode where they are operated such thatthree dimensional position information indicating the location of thesensor 2 is transmitted to the controller 1.

The sensor 2 is worn by a patient on a part of their anatomy, forexample a limb, for example their arm. Once the patient and/orclinician/physiotherapist is ready, the patient and/orclinician/physiotherapist can start a mapping, for example by operatingthe controller 1 or by pressing a button on the sensor 2. Once themapping begins, the patient moves their part of the anatomy across itsrange of motion. For example, if the patient is standing upright, thepatient may move their arm from right to left and up and down, forexample in an arc motion. The mapping may end for example when thepatient has reached the limit of their range of motion, after a selectedtime has elapsed, or when a button, for example a button on sensor 2 oron another sensor operated by a patient and/or aclinician/physiotherapist, is pressed.

At the beginning of the mapping, the sensor elements 23 of the sensor 2will provide three dimensional position information indicating thelocation of the sensor 2. For example, the sensor elements 23 may obtaininformation comprising at least one of: orientation relative to gravity,orientation relative to the earth's magnetic field and air pressure. Theprocessor 21 of sensor 2 processes this information and transmits it tothe controller 1 via the wireless communications interface 19 as firstsensor signals. The wireless communications interface 9 of thecontroller 1 receives the first sensor signals, and the controller 1,and specifically the processor of controller 1, transforms the firstsensor signals to provide two dimensional coordinate data defined in atwo dimensional coordinate space, wherein a first dimension in the twodimensional coordinate space represents a first angle of rotation of thepart of the anatomy, and a second dimension in the two dimensionalcoordinate space represents a second angle of rotation of the part ofthe anatomy.

As the patient moves their part of their anatomy, the sensor elements 23detect these movements, for example changes in orientation relative togravity, changes in orientation relative to the earth's magnetic fieldand/or changes in air pressure, and the processor 21 of sensor 2processes this three dimensional position information and sends it asfirst sensor signals via the wireless communications interface 19 forreceipt by the wireless communications interface 9 of the controller 1.In some configurations, the sensor 2 continually outputs first sensorsignals to the controller 1, for example regardless of whether the threedimensional position information has changed or not. In otherconfigurations, the sensor 2 only outputs first sensor signals when achange in the three dimensional position information has occurred.

The controller 1 transforms the first sensor signals to provide twodimensional coordinate data defined in a two dimensional coordinatespace, wherein a first dimension in the two dimensional coordinate spacerepresents a first angle of rotation of the part of the anatomy, and asecond dimension in the two dimensional coordinate space represents asecond angle of rotation of the part of the anatomy. The controller 1then stores the two dimensional coordinate data, for example on anoptional data storage coupled to the controller 1 or in some form ofdata storage comprised in controller 1. In some configurations, the twodimensional coordinate space is a linear two dimensional coordinatespace, for example a rectilinear coordinate system.

In configurations where the controller 1 is operable to map the firstsensor signals to an image space, the controller 1 maps the first sensorsignals to an image space for display of the trajectory of the part ofthe anatomy. The controller 1 may map the sensor signals to the imagespace in real time, or near real-time (for example with a delay lessthan 5 seconds, for example less than 2 seconds, for example less than 1second from when the movement occurred or from when the signals arereceived by the controller 1). For example, in some configurations, whenthe controller 1 transforms the first sensor signals to provide twodimensional coordinate data, the controller 1 also maps the first sensorsignals to an image space for display of the part of the anatomy, forexample on display 15. For example, the two dimensional coordinate spacemay also be an image space. In some configurations, the controller 1maps the two dimensional coordinate data to an image space for displayof the part of the anatomy, for example on display 15. For example, insome configurations the controller 1 maps stored two dimensionalcoordinate data to an image space. In other configurations, thecontroller 1 maps the two dimensional coordinate data to an image spacein real time and simultaneously stores the two dimensional coordinatedata. The image space may be in the form of a plot, as shown in FIG. 4.

The plot shown in FIG. 4 represents an example mapping of the trajectoryof an arm to an image space displayed on display 15 of controller 1. Themapping to an image space is in the form of a plot. The plot has twodimensions—one dimension 101 represents one angle of rotation (forexample pitch) of the arm, and the other dimension 103 representsanother angle of rotation (for example yaw) of the arm. The plot isstereographic in nature, that is the three dimensional positioninformation is displayed on a two dimensional plot, and is conformal inthat the angles are preserved. In the plot shown in FIG. 4, thedimension 101 representing pitch is Cartesian, with the relativeorientations of the patient's arm with respect to another part of thebody, in this case the patient's torso, indicated on the axes. Thedimension 103 representing the yaw of the patient's arm is polar innature; that is the angle of yaw increases with increasing distance fromthe centre or origin of the plot.

In FIG. 4 the two dimensions are configured to line up so that 0 degreesof pitch and 0 degrees of yaw intersect at the centre or origin 150 ofthe plot. For example, with the arm horizontal, out to the side, theplot will be at the origin of the plot. As the arm moves forward and(vertically) up, and then (horizontally) to the side, the displayreflects that movement. The complete plot (shaded area 120) shows acharacteristic “D” profile. By displaying the three dimensional positioninformation on a two dimensional plot in this way, aclinician/physiotherapist can easily determine where the patient has alimited range of motion, or where their range of motion has changed.

The plot displayed in FIG. 4 is preferably taken and displayed in realtime, although of course because the transformed signals are stored astwo dimensional coordinate data they can be used at a later date and/orcompared with each other. FIG. 4 shows the results of a previous mappingshown as an outline 130 overlaid on the plot of the current mapping. Inthis way, the mapped trajectory of at least one previous mapping can bemapped to an image space, wherein the two dimensional coordinate spaceand/or image space is the same as for at least one other mapping, andthe mapped trajectory of at least one previous mapping can be overlaidon a display of the trajectory of the part of the anatomy from at leastone other mapping, for example from stored two dimensional coordinatedata.

In some configurations, comparative and differential analysis is used tohighlight how different parts of the anatomy of the patient's body, orhow different patients are performing at the same time. For example theperformance of the left arm can be compared to the right arm, or activeuse (where the patient is moving their body unaided) compared againstpassive use (where the clinician/physiotherapist is moving the arm).Patient data may be stored locally, for example on optional data storagecoupled to the controller 1, enabling treatment and performance trendsto be analysed and compared during and after live mapping. In someconfigurations the mapped trajectory is compared to “standard” data, forexample a “standard” range of motion. The “standard” range figures maybe based, for example, on an average 40-year-old man. If the standardmaximum range for the movement is exceeded, the controller 1 may beconfigured to display a warning “out” on display 15, and the mappingrestarted. This is to protect the patient from hyperextension and fromthe mapping being performed incorrectly. An alternative “advanced” rangemay be used for other patients, for example for use with elite athleteswho will likely have an increased range of motion.

In some configurations, where the controller 1 is operable to obtain asecond sensor signal indicative of a third angle of rotation of the partof the anatomy, the controller 1 may be configured to map the thirdangle of rotation of the part of the anatomy to a display location in animage space selected based on the stored association, as shown by thedotted circles 140 in FIG. 4. In FIG. 4, the dotted circles 140 areoverlaid on the outer edge of the plot and indicate a third angle ofrotation of the arm at that display location, in this case the roll. Theshaded area in the overlaid plots 140 indicate the range of motion forthat angle of rotation for that particular combination of the other twoangles of rotation at that display location.

In configurations where the controller 1 is operable to obtain a thirdsensor signal comprising information indicative of an incidence point,the controller 1, following receipt of a third sensor signal, stores anassociation between the incidence point and the two dimensionalcoordinate data indicating the at least two angles of rotation of thepart of the anatomy to record the location of the incidence point. Theincidence point may be mapped to a display location in an image spaceselected based on the stored association, for example so that theincidence point is displayed as an overlay at the display location on adisplay of the trajectory of the part of the anatomy. For example, usinga second sensor the clinician/physiotherapist and/or patient can markPatient Incidence Points (PIPs) during the mapping to flag any issuesarising such as pain or discomfort. PIPs can be marked using, forexample a user-operable interface, for example a button or by squeezingthe sensor, and this may be confirmed by an audible click. Thecontroller 1 is configured to map the PIPs to the image space such thatthey appear as an overlay on the plot, for example as an overlay on themapped trajectory of the part of the anatomy, for example as diamonds145 overlaid on the plot of the trajectory as shown in FIG. 4. In someconfigurations, an unlimited number of PIPs can be marked and recorded.

In configurations where the controller 1 is further operable to receivea fourth sensor signal comprising information indicative of at least oneof: speed, acceleration or power of a part of the anatomy of the humanor animal body. The fourth sensor signals may be obtained from thesensor 2 and thus obtained from the same sensor providing the firstsensor signals, or from another sensor, for example a sensor attached tothe patient or a sensor operated by a clinician/physiotherapist. Forexample, the sensor 2 may be used to map the trajectory of a cricketer'sarm as he throws a cricket ball. The sensor 2 may be configured toobtain information indicative of the acceleration of the cricketer's armas it moves. The controller 1 may be configured to associate the fourthsensor signals with the at least two angles of rotation, for example thetwo dimensional coordinate data indicating the at least two angles ofrotation. The controller 1 may be configured to store this associationbetween the fourth sensor signals, for example at least one selectedfrom the list of: speed, acceleration and power of a part of the anatomyof the human or animal body and the two dimensional coordinate data. Thecontroller 1 may be configured to map this information to an imagespace, for example so that the information is displayed as an overlay atthe display location on a display of the trajectory of the part of theanatomy. For example, the speed may be indicated by a change in colourof the mapping of the trajectory of the part of the anatomy in the imagespace.

In some configurations, the controller 1 is able to support a pluralityof sensors 2, for example two sensors 2, for example allowingmeasurements of left and right limbs simultaneously. When two sensors 2are communicating with the controller 1, the one on the left can beassociated with the left-hand side of the body and the right-hand sensorcan be associated with the right-hand side of the body. The activesensor 2 may be highlighted as the appropriate mapping is selected. Ifthe sensors 2 are placed on the wrong sides of the body, they can beswapped over, for example by operation of the controller 1.

The sensor 2 can initiate a mapping without the need to return to thecontroller 1. For example, if the sensor 2 has a user-operableinterface, for example a button, and a mapping is not running, one longpress on the button starts the mapping and if the mapping is running,one long press stops the mapping and the mapped trajectory is stored astwo dimensional coordinate data.

The details of any specific data point—for example the three dimensionalposition information, the determined angles of rotation of the part ofthe anatomy, or the transformed two dimensional coordinate data—can bedisplayed in a results table 70 (as shown in FIG. 5), for example byclicking on a display location on the image space. The tabularinformation 70 may show details of the current, first and a selectedprevious mapping for comparative purposes.

At least one of the three dimensional position information, thedetermined angles of rotation of the part of the anatomy, thetransformed two dimensional coordinate data, the incidence points andthe speed, acceleration and power may also be displayed with respect toan avatar 50. For example, in some configurations, the two dimensionalcoordinate data is transformed to three dimensional coordinate datadefined in a three dimensional coordinate space, and the sensor signalsand/or the transformed three dimensional coordinate data mapped to animage space, so that a three dimensional representation of an avatar 50may be displayed, for example displaying the avatar 50 moving its partof the anatomy, and thus displaying the trajectory of the part of theanatomy on the avatar 50. For example the trajectory of the part of theanatomy may be displayed in real time with the movements of the sensor2.

In other configurations, the first sensor signals may be transformed totwo dimensional coordinate data defined in a two dimensional coordinatespace wherein the two dimensions together only represent one angle ofrotation of the part of the anatomy. The sensor signals and/or thetransformed two dimensional coordinate data may be displayed on anavatar 50, for example as shown in FIG. 5. The image of the avatar 50 inFIG. 5 shows a patient's arm moving, in this example, as they map thetrajectory of their arm and hence determine the range of their shoulderabduction (thus only indicating one angle of rotation of the part of theanatomy). The patient's maximum ranges for both passive and activemovement are indicated by the lines 205 (active) and lines 210(passive). In this example, the patient is compared to the verticalposition, defined as being perpendicular to the Earth's surface.

In some configurations, sensor signals comprising three dimensionalposition information indicating the location of the sensor 2 aretransformed by the controller 1 to provide three dimensional coordinatedata defined in a three dimensional space, wherein one plane indicates afirst angle of rotation and a second plane indicates a second angle ofrotation. The three dimensional coordinate data may comprise twodimensional coordinate data indicating the at least two angles ofrotation of the part of the anatomy.

The sensor signals and/or the transformed three dimensional coordinatedata, may be mapped to an image space for display of the trajectory ofthe part of the anatomy. For example a three dimensional representationof an avatar 50 may be displayed, for example displaying the avatar 50moving its part of the anatomy, and thus displaying the trajectory ofthe part of the anatomy. For example the trajectory of the part of theanatomy may be displayed in real time with the movements of the sensor2. In other configurations, the image space may only show one plane ofthe three dimensional space, thus only indicating one angle of rotationof the part of the anatomy.

Similarly, in configurations where the controller 1 is operable toreceive second, third and/or fourth sensor signals, these may also bedisplayed with respect to an avatar 50 in a similar way to thatdescribed for the first sensor signals described above.

In some configurations, the controller 1 allows the outcome of eachmapping to be displayed individually. Alternatively, the outcomes of anunlimited number of mappings can be averaged. The averaged data may thenbe displayed in a table 70 and/or on an avatar 50. In someconfigurations PIPs are not averaged as they are deemed to be absolute,the last recorded PIPs, therefore, are those shown on the avatar 50.

The controller 1 may be configured to automatically print to a printer.The screen may print out as it appears on the display 15 and it isimportant to ensure that the page orientation of the printer is set upappropriately. The printout contains only limited patient information inline with data protection guidelines. A printer driver for a recommendedprinter is preloaded onto the controller 1.

The controller 1 may be configure to provide “Print” and “Plot”functions so that the patient can leave with a printout of the resultsof their mapping and a graph of their progress. The plot function alsoprovides clear information in relation to the need for evidence basedoutcomes. The avatar 50 acts as an aide-memoire of the exercise beingperformed and the progress chart provides encouragement to the patientto continue with their rehabilitation as they can clearly see andunderstand the impact of their treatment without having to understandmedical terminology. The printout may either comprise the avatar 50image or historical mapping data. Patient details such as age, heightand weight may be recorded for future use and stored on a data storagecoupled to the controller 1 for data protection reasons. This data mayencrypted, for example so that it is usable only by the controller 1.Each record may be assigned a universally unique identificationreference. A search function may enable the clinician/physiotherapisteasily to find an existing record. The subject data may be storedagainst the patient's details to enable treatment and performance trendsto be analysed and compared during and after live mapping.

In some configurations, the patient's history can also be reviewed tosee what mappings have been done in the past and a specific set ofmappings recalled for analysis during the next live mapping. Thisenables the current mapping to be compared not only with the firstmapping, but also against a set of selected mappings. Data may be savedas in XML format for each patient.

In some configurations, in order for the controller 1 and sensor 2 tocommunicate with each other, the controller 1 needs to “find” the sensor2. In order to do this, the sensor 2 and controller 1 are configured torun in “find” mode so that they begin to communicate with each (forexample, the sensor 2 and controller 1 are “paired”).

In some configurations the controller 1 and the sensor 2 need to becalibrated. This may be done using a “calibration” mode. Once the sensor2 and the controller 1 are communicating with each other, the sensor 2can be automatically calibrated by the controller 1 to begincalibration. To improve the calibration procedure, the sensor 2 may berolled between the palms of a user's hands so that the sensor elements23 in the sensor 2 experience a wide range of motion. Preferably thesensor 2 is moved in all directions as much as possible.

In some configurations, the controller 1 and/or sensor 2 may operate in“sleep” mode, for example if neither device has been used for a selectedperiod of time, for example at least five minutes, for example at leastten minutes. In “sleep” mode the controller 1 and/or sensor 2 may bequickly activated and switched into “calibration” mode but whilstconsuming less power than in “calibration” mode.

An example sensor 2 used in the apparatus and methods disclosed hereinhas been validated in clinical trials and found to be on a par with OMCS(Optical Motion Capture Systems). These trials compared a single sensor2 placed at the centre of mass (CoM), lumbar L4, and four Qualisys®cameras. Acceleration, velocity and relative position were compared. Thetable below shows the results of sensor 2 indicated as BPMpro™ comparedbased on a single axis result:

Acceleration (MS⁻²) Velocity (MS⁻¹) Relative Position (cm) BPMpro OMCSBPMpro OMCS BPMpro OMCS Subject 1 2.16 ± 0.30 2.36 ± 0.26 0.40 ± 0.060.44 ± 0.06 4.11 ± 0.40 4.22 ± 0.44 2 2.65 ± 0.26 2.70 ± 0.20 0.57 ±0.05 0.57 ± 0.04 5.08 ± 0.29 4.99 ± 0.40 3 1.75 ± 0.17 1.92 ± 0.18 0.36± 0.01 0.36 ± 0.01 3.34 ± 0.27 3.34 ± 0.07 4 1.58 ± 0.09 1.83 ± 0.100.31 ± 0.05 0.35 ± 0.04 3.24 ± 0.38 3.33 ± 0.36 5 2.38 ± 0.08 2.64 ±0.09 0.45 ± 0.01 0.47 ± 0.05 4.42 ± 0.13 4.43 ± 0.48

indicates data missing or illegible when filed

The BPMpro™ sensor 2 was also interrogated using LabVIEW® 2010 andcompared against multi-sensor systems such as Pi-Node®, Xsens® andOPAL®. On the basis that a single BPMpro™ sensor 2 was being compared tomulti-camera and multi-sensor systems, the results proved to be not onlyvery useable in a real world environment, but they also demonstrate thecost effectiveness of the methods and apparatus of the presentdisclosure.

It is suggested that any feature of any one of the examples disclosedherein may be combined with any selected features of any of the otherexamples described herein. For example, features of methods may beimplemented in suitably configured hardware, and the configuration ofthe specific hardware described herein may be employed in methodsimplemented using other hardware. In the context of the presentdisclosure, it will be appreciated that other examples and variations ofthe apparatus and methods described herein may be provided within thescope of the appended claims.

The processor 11 of the controller 1, and/or the processor 21 of thesensor 2 described herein may comprise a general purpose processor,which may be configured to perform a method according to any one ofthose described herein. In some examples the controller 1 and/or thesensor 2 and/or the processor 11 and/or the processor 21 may comprisedigital logic, such as field programmable gate arrays, FPGA, applicationspecific integrated circuits, ASIC, a digital signal processor, DSP, orany other appropriate hardware.

Where configuration of a processor, or other programmable component, isdescribed this may be achieved by procedural or object orientedprogramming, or by the use of scripting which incorporates a mixture ofboth procedural and object oriented approaches. In some cases FGPAs orASICs may be used to provide these configurations.

The data stores described herein may be provided by volatile orinvolatile memory storage such as RAM, EEPROM, FLASH memory, or anyother form of computer readable media.

1. A method for mapping the trajectory of a part of the anatomy of ahuman or animal body, the method comprising: receiving first sensorsignals from a sensor attached to part of the anatomy of the human oranimal body, wherein the first sensor signals comprise three dimensionalposition information indicating the location of the sensor; determiningfrom the first sensor signals at least two angles of rotation of thepart of the anatomy to which the sensor is attached with respect to acentre of rotation of another part of the body, wherein the angles ofrotation are selected from pitch, yaw and roll; transforming the signalsto provide two dimensional coordinate data defined in a two dimensionalcoordinate space wherein a first dimension in the two dimensionalcoordinate space represents a first angle of rotation of the part of theanatomy and a second dimension in the two dimensional coordinate spacerepresents a second angle of rotation of the part of the anatomy; andstoring the two dimensional coordinate data.
 2. The method of claim 1wherein transforming the signals comprises mapping the signals to animage space for display of the trajectory of the part of the anatomy. 3.The method of claim 1 comprising: obtaining a second sensor signalindicative of a third angle of rotation of the part of the anatomy froma second sensor and storing an association comprising the third angle ofrotation and the two dimensional coordinate data indicating the at leasttwo angles of rotation at which the second sensor signal was obtained,and optionally: mapping the third angle of rotation to a displaylocation in an image space selected based on the stored association, ordisplaying the third angle of rotation of the part of the anatomy as anoverlay at the display location on a display of the trajectory of thepart of the anatomy.
 4. (canceled)
 5. (canceled)
 6. (canceled)
 7. Themethod of claim 1, wherein transforming the signals to a two dimensionalcoordinate space comprises at least one of: transforming the signals toa linear two dimensional coordinate space; transforming the signals to atwo dimensional coordinate space using a conformal transformation; ortransforming the signals to a two dimensional coordinate space byapplying a stereographic projection.
 8. (canceled)
 9. (canceled) 10.(canceled)
 11. The method of claim 1, further comprising: receiving,from a sensor, a third sensor signal comprising information indicativeof an incidence point; and storing an association between the incidencepoint and the two dimensional coordinate data indicating the at leasttwo angles of rotation of the part of the anatomy to record the locationof the incidence point, and optionally receiving the third sensor signalfrom the sensor from which at least one of the first sensor signal andthe second sensor signal are received, or receiving the third sensorsignal from a sensor adapted to be operated by a clinician. 12.(canceled)
 13. (canceled)
 14. The method of claim 5, further comprisingmapping the incidence point to a display location in an image spaceselected based on the stored association, optionally displaying theincidence point as an overlay at the display location on a display ofthe trajectory of the part of the anatomy.
 15. (canceled)
 16. The methodof claim 1, further comprising: receiving fourth sensor signalscomprising information indicative of at least one of the speed,acceleration or power of a part of the anatomy of the human or animalbody, and optionally associating the fourth sensor signals with the atleast two angles of rotation of the part of the anatomy to record atleast one of the speed, acceleration or power as a function of the atleast two angles of rotation of the part of the anatomy, or mapping atleast one of the speed, acceleration or power to an image space todisplay the function as an overlay on a display of the trajectory of thepart of the anatomy.
 17. (canceled)
 18. (canceled)
 19. (canceled) 20.The method of claim 1, further comprising mapping the first sensorsignals to an image space, and mapping stored two dimensional coordinatedata to the image space, for display of the trajectory of the part ofthe anatomy as an overlay on a display of the trajectory of the part ofthe anatomy mapped to the image space from the stored two dimensionalcoordinate data.
 21. A method for mapping the trajectory of a part ofthe anatomy of a human or animal body, the method comprising: receivingfirst sensor signals from a sensor attached to part of the anatomy ofthe human or animal body wherein the sensor signals comprise threedimensional position information indicating the location of the sensor;determining from the first sensor signals at least two angles ofrotation of the part of the anatomy of the human or animal body to whichthe first sensor is attached with respect to a centre of rotation ofanother part of the body, wherein the angles of rotation are selectedfrom pitch, yaw and roll; transforming the signals to provide threedimensional coordinate data defined in a three dimensional space,wherein one plane indicates a first angle of rotation and a second planeindicates a second angle of rotation, and wherein the three dimensionalcoordinate data comprises two dimensional coordinate data indicating theat least two angles of rotation of the part of the anatomy; and storingthe three dimensional coordinate data.
 22. (canceled)
 23. An apparatusfor mapping the trajectory of a part of the anatomy of a human or animalbody, the apparatus comprising: a sensor for attaching to part of theanatomy of the human or animal body; and a processor for receiving firstsensor signals from the sensor, wherein the first sensor signalscomprise three dimensional position information indicating the locationof the sensor; wherein the processor is configured to determine at leasttwo angles of rotation of the part of the anatomy of the human or animalbody to which it is attached with respect to a centre of rotation of thebody, wherein the angles of rotation are selected from pitch, yaw androll; and the processor is configured to transform the first sensorsignals received from the sensor to provide two dimensional coordinatedata defined in a two dimensional coordinate space such that a firstdimension in the two dimensional coordinate space represents a firstangle of rotation of the part of the anatomy and a second dimension inthe two dimensional coordinate space represents a second angle ofrotation of the part of the anatomy, and store the two dimensionalcoordinate data.
 24. The apparatus of claim 23 wherein the processor isconfigured to map the first sensor signals to an image space for displayof the trajectory of the part of the anatomy.
 25. The apparatus of claim23, wherein the processor is further configured to obtain a secondsensor signal indicative of a third angle of rotation of the part of theanatomy and store an association comprising the third angle of rotationand the two dimensional coordinate data indicating the at least twoangles of rotation at which the second sensor signal was obtained. 26.The apparatus of claim 25 wherein the processor is further configured tomap the third angle of rotation to a display location in an image spaceselected based on the stored association, and wherein the processor isoptionally configured to display the third angle of rotation of the partof the anatomy as an overlay at the display location on a display of thetrajectory of the part of the anatomy, or wherein the apparatusoptionally has a second sensor and the processor is adapted to receivethe second sensor signal from the second sensor.
 27. (canceled) 28.(canceled)
 29. The apparatus of claim 23, wherein the processor isconfigured to transform the received signals to a linear two dimensionalcoordinate space, for example a Cartesian space.
 30. The apparatus ofclaim 23, wherein the processor is configured to transform the receivedsignals with a conformal transformation.
 31. (canceled)
 32. (canceled)33. The apparatus of claim 23, further comprising: a sensor forindicating an incidence point; wherein the processor is configured toreceive a third sensor signal comprising information indicative of theincidence point and store an association between the incidence point andthe two dimensional coordinate data indicating the at least two anglesof rotation of the part of the anatomy to record the location of theincidence point, wherein the processor is optionally configured to (i)receive the third sensor signal from the sensor from which at least oneof the first sensor signal and the second sensor signal are received, or(ii) receive the third sensor signal from a third sensor adapted to beoperated by a clinician.
 34. (canceled)
 35. (canceled)
 36. The apparatusof claim 33, wherein the processor is configured to map the third sensorsignal to an image space for display of the incidence point at a displaylocation selected based on the stored association, and wherein theprocessor is optionally configured to display the incidence point as anoverlay on a display of the trajectory of the part of the anatomy, orreceive fourth sensor signals comprising information indicative of atleast one of the speed, acceleration or power of a part of the anatomyof the human or animal body.
 37. (canceled)
 38. The apparatus of claim23, wherein the processor is configured to receive fourth sensor signalscomprising information indicative of at least one of the speed,acceleration or power of a part of the anatomy of the human or animalbody, and wherein the processor is optionally configured to: associatethe fourth signals with the at least two angles of rotation of the partof the anatomy to record at least one of the speed, acceleration orpower as a function of the at least two angles of rotation of the partof the anatomy; map the fourth signals to an image space to display thefunction as an overlay on a display of the trajectory of the part of theanatomy; or receive the fourth sensor signals from the sensor from whichat least one of the first sensor signal, the second sensor signal andthe third sensor signal are received.
 39. (canceled)
 40. (canceled) 41.(canceled)
 42. The apparatus of claim 23, wherein the processor isconfigured to map the first sensor signals to an image space and mapstored two dimensional coordinate data to the image space, for displayof the trajectory of the part of the anatomy as an overlay on a displayof the trajectory of the part of the anatomy mapped to the image spacefrom the stored two dimensional coordinate data.
 43. (canceled) 44.(canceled)
 45. A non-transitory computer readable medium containinginstructions to configure a processor to perform the method of any ofclaim
 1. 46. (canceled)
 47. (canceled)